<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Eigen: Eigen::RotationBase&lt; Derived, Dim_ &gt; Class Template Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
  $(document).ready(function() { init_search(); });
/* @license-end */
</script>
<script type="text/x-mathjax-config">
  MathJax.Hub.Config({
    extensions: ["tex2jax.js", "TeX/AMSmath.js", "TeX/AMSsymbols.js"],
    jax: ["input/TeX","output/HTML-CSS"],
});
</script>
<script type="text/javascript" async="async" src="https://cdn.mathjax.org/mathjax/latest/MathJax.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
<link href="eigendoxy.css" rel="stylesheet" type="text/css">
<!--  -->
<script type="text/javascript" src="eigen_navtree_hacks.js"></script>
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectlogo"><img alt="Logo" src="Eigen_Silly_Professor_64x64.png"/></td>
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname"><a href="http://eigen.tuxfamily.org">Eigen</a>
   &#160;<span id="projectnumber">3.4.90 (git rev 67eeba6e720c5745abc77ae6c92ce0a44aa7b7ae)</span>
   </div>
  </td>
   <td>        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="search/mag_sel.svg"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)" 
               onblur="searchBox.OnSearchFieldFocus(false)" 
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.svg" alt=""/></a>
          </span>
        </div>
</td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
/* @license-end */
</script>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('classEigen_1_1RotationBase.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="classEigen_1_1RotationBase-members.html">List of all members</a> &#124;
<a href="#pub-types">Public Types</a> &#124;
<a href="#pub-methods">Public Member Functions</a>  </div>
  <div class="headertitle">
<div class="title">Eigen::RotationBase&lt; Derived, Dim_ &gt; Class Template Reference</div>  </div>
</div><!--header-->
<div class="contents">
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename Derived, int Dim_&gt;<br />
class Eigen::RotationBase&lt; Derived, Dim_ &gt;</h3>

<p>Common base class for compact rotation representations. </p>
<dl class="tparams"><dt>Template Parameters</dt><dd>
  <table class="tparams">
    <tr><td class="paramname">Derived</td><td>is the derived type, i.e., a rotation type </td></tr>
    <tr><td class="paramname">Dim_</td><td>the dimension of the space </td></tr>
  </table>
  </dd>
</dl>
</div><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for Eigen::RotationBase&lt; Derived, Dim_ &gt;:</div>
<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
</div>
<div id="dynsection-0-content" class="dyncontent" style="display:none;">
<div class="center"><img src="classEigen_1_1RotationBase__inherit__graph.png" border="0" usemap="#aEigen_1_1RotationBase_3_01Derived_00_01Dim___01_4_inherit__map" alt="Inheritance graph"/></div>
<map name="aEigen_1_1RotationBase_3_01Derived_00_01Dim___01_4_inherit__map" id="aEigen_1_1RotationBase_3_01Derived_00_01Dim___01_4_inherit__map">
<area shape="rect" title="Common base class for compact rotation representations." alt="" coords="204,5,347,229"/>
<area shape="rect" href="classEigen_1_1QuaternionBase.html" title=" " alt="" coords="5,277,161,545"/>
<area shape="rect" href="classEigen_1_1QuaternionBase.html" title=" " alt="" coords="188,277,363,545"/>
<area shape="rect" href="classEigen_1_1QuaternionBase.html" title=" " alt="" coords="388,277,571,545"/>
<area shape="rect" href="classEigen_1_1Quaternion.html" title="The quaternion class used to represent 3D orientations and rotations." alt="" coords="9,593,152,876"/>
<area shape="rect" href="classEigen_1_1Map_3_01const_01Quaternion_3_01Scalar___01_4_00_01Options___01_4.html" title="Quaternion expression mapping a constant memory buffer." alt="" coords="176,681,375,788"/>
<area shape="rect" href="classEigen_1_1Map_3_01Quaternion_3_01Scalar___01_4_00_01Options___01_4.html" title="Expression of a quaternion from a memory buffer." alt="" coords="399,674,562,795"/>
</map>
</div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a2208f5cae3e61336a9fedb4b8ad37d60"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classEigen_1_1Matrix.html">Matrix</a>&lt; <a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a>, Dim, Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a2208f5cae3e61336a9fedb4b8ad37d60">RotationMatrixType</a></td></tr>
<tr class="separator:a2208f5cae3e61336a9fedb4b8ad37d60"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a942f03c9a5bfbad71a313aee8d37887e"><td class="memItemLeft" align="right" valign="top">typedef internal::traits&lt; Derived &gt;::<a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a></td></tr>
<tr class="separator:a942f03c9a5bfbad71a313aee8d37887e"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a17e1494056ac5d1fb4d00d8488b6a0a7"><td class="memItemLeft" align="right" valign="top">Derived&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a17e1494056ac5d1fb4d00d8488b6a0a7">inverse</a> () const</td></tr>
<tr class="separator:a17e1494056ac5d1fb4d00d8488b6a0a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a09a6df8b4801f4ec56823695c1116633"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1RotationBase.html#a2208f5cae3e61336a9fedb4b8ad37d60">RotationMatrixType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a09a6df8b4801f4ec56823695c1116633">matrix</a> () const</td></tr>
<tr class="separator:a09a6df8b4801f4ec56823695c1116633"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad553de027676bded14bbed5623dbdb72"><td class="memTemplParams" colspan="2">template&lt;typename OtherDerived &gt; </td></tr>
<tr class="memitem:ad553de027676bded14bbed5623dbdb72"><td class="memTemplItemLeft" align="right" valign="top">internal::rotation_base_generic_product_selector&lt; Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime &gt;::ReturnType&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#ad553de027676bded14bbed5623dbdb72">operator*</a> (const <a class="el" href="structEigen_1_1EigenBase.html">EigenBase</a>&lt; OtherDerived &gt; &amp;e) const</td></tr>
<tr class="separator:ad553de027676bded14bbed5623dbdb72"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1258d0d2205a25d75f17ac947b28ef77"><td class="memTemplParams" colspan="2">template&lt;int Mode, int Options&gt; </td></tr>
<tr class="memitem:a1258d0d2205a25d75f17ac947b28ef77"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html">Transform</a>&lt; <a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a>, Dim, Mode &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a1258d0d2205a25d75f17ac947b28ef77">operator*</a> (const <a class="el" href="classEigen_1_1Transform.html">Transform</a>&lt; <a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a>, Dim, Mode, Options &gt; &amp;t) const</td></tr>
<tr class="separator:a1258d0d2205a25d75f17ac947b28ef77"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aefdff51f6a7f7a50ce2610afc98836a6"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html">Transform</a>&lt; <a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a>, Dim, <a class="el" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef">Isometry</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#aefdff51f6a7f7a50ce2610afc98836a6">operator*</a> (const <a class="el" href="classEigen_1_1Translation.html">Translation</a>&lt; <a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a>, Dim &gt; &amp;t) const</td></tr>
<tr class="separator:aefdff51f6a7f7a50ce2610afc98836a6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7c6e897778ebf8c4d5fd48ab2361f81f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1RotationBase.html#a2208f5cae3e61336a9fedb4b8ad37d60">RotationMatrixType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a7c6e897778ebf8c4d5fd48ab2361f81f">operator*</a> (const <a class="el" href="classEigen_1_1UniformScaling.html">UniformScaling</a>&lt; <a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a> &gt; &amp;s) const</td></tr>
<tr class="separator:a7c6e897778ebf8c4d5fd48ab2361f81f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac69c68d9a256dd0d369b0f32c2b654e1"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1RotationBase.html#a2208f5cae3e61336a9fedb4b8ad37d60">RotationMatrixType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#ac69c68d9a256dd0d369b0f32c2b654e1">toRotationMatrix</a> () const</td></tr>
<tr class="separator:ac69c68d9a256dd0d369b0f32c2b654e1"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<h2 class="groupheader">Member Typedef Documentation</h2>
<a id="a2208f5cae3e61336a9fedb4b8ad37d60"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2208f5cae3e61336a9fedb4b8ad37d60">&#9670;&nbsp;</a></span>RotationMatrixType</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename Derived , int Dim_&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">typedef <a class="el" href="classEigen_1_1Matrix.html">Matrix</a>&lt;<a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a>,Dim,Dim&gt; <a class="el" href="classEigen_1_1RotationBase.html">Eigen::RotationBase</a>&lt; Derived, Dim_ &gt;::<a class="el" href="classEigen_1_1RotationBase.html#a2208f5cae3e61336a9fedb4b8ad37d60">RotationMatrixType</a></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>corresponding linear transformation matrix type </p>

</div>
</div>
<a id="a942f03c9a5bfbad71a313aee8d37887e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a942f03c9a5bfbad71a313aee8d37887e">&#9670;&nbsp;</a></span>Scalar</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename Derived , int Dim_&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">typedef internal::traits&lt;Derived&gt;::<a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a> <a class="el" href="classEigen_1_1RotationBase.html">Eigen::RotationBase</a>&lt; Derived, Dim_ &gt;::<a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>the scalar type of the coefficients </p>

</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="a17e1494056ac5d1fb4d00d8488b6a0a7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a17e1494056ac5d1fb4d00d8488b6a0a7">&#9670;&nbsp;</a></span>inverse()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename Derived , int Dim_&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">Derived <a class="el" href="classEigen_1_1RotationBase.html">Eigen::RotationBase</a>&lt; Derived, Dim_ &gt;::inverse </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<dl class="section return"><dt>Returns</dt><dd>the inverse rotation </dd></dl>

</div>
</div>
<a id="a09a6df8b4801f4ec56823695c1116633"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a09a6df8b4801f4ec56823695c1116633">&#9670;&nbsp;</a></span>matrix()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename Derived , int Dim_&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classEigen_1_1RotationBase.html#a2208f5cae3e61336a9fedb4b8ad37d60">RotationMatrixType</a> <a class="el" href="classEigen_1_1RotationBase.html">Eigen::RotationBase</a>&lt; Derived, Dim_ &gt;::matrix </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<dl class="section return"><dt>Returns</dt><dd>an equivalent rotation matrix This function is added to be conform with the <a class="el" href="classEigen_1_1Transform.html" title="Represents an homogeneous transformation in a N dimensional space.">Transform</a> class' naming scheme. </dd></dl>

</div>
</div>
<a id="ad553de027676bded14bbed5623dbdb72"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad553de027676bded14bbed5623dbdb72">&#9670;&nbsp;</a></span>operator*() <span class="overload">[1/4]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename Derived , int Dim_&gt; </div>
<div class="memtemplate">
template&lt;typename OtherDerived &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">internal::rotation_base_generic_product_selector&lt;Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime&gt;::ReturnType <a class="el" href="classEigen_1_1RotationBase.html">Eigen::RotationBase</a>&lt; Derived, Dim_ &gt;::operator* </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structEigen_1_1EigenBase.html">EigenBase</a>&lt; OtherDerived &gt; &amp;&#160;</td>
          <td class="paramname"><em>e</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<dl class="section return"><dt>Returns</dt><dd>the concatenation of the rotation <code>*this</code> with a generic expression <em>e</em> <em>e</em> can be:<ul>
<li>a DimxDim linear transformation matrix</li>
<li>a DimxDim diagonal matrix (axis aligned scaling)</li>
<li>a vector of size Dim </li>
</ul>
</dd></dl>

</div>
</div>
<a id="a1258d0d2205a25d75f17ac947b28ef77"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1258d0d2205a25d75f17ac947b28ef77">&#9670;&nbsp;</a></span>operator*() <span class="overload">[2/4]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename Derived , int Dim_&gt; </div>
<div class="memtemplate">
template&lt;int Mode, int Options&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classEigen_1_1Transform.html">Transform</a>&lt;<a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a>,Dim,Mode&gt; <a class="el" href="classEigen_1_1RotationBase.html">Eigen::RotationBase</a>&lt; Derived, Dim_ &gt;::operator* </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classEigen_1_1Transform.html">Transform</a>&lt; <a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a>, Dim, Mode, Options &gt; &amp;&#160;</td>
          <td class="paramname"><em>t</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<dl class="section return"><dt>Returns</dt><dd>the concatenation of the rotation <code>*this</code> with a transformation <em>t</em> </dd></dl>

</div>
</div>
<a id="aefdff51f6a7f7a50ce2610afc98836a6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aefdff51f6a7f7a50ce2610afc98836a6">&#9670;&nbsp;</a></span>operator*() <span class="overload">[3/4]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename Derived , int Dim_&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classEigen_1_1Transform.html">Transform</a>&lt;<a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a>,Dim,<a class="el" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef">Isometry</a>&gt; <a class="el" href="classEigen_1_1RotationBase.html">Eigen::RotationBase</a>&lt; Derived, Dim_ &gt;::operator* </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classEigen_1_1Translation.html">Translation</a>&lt; <a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a>, Dim &gt; &amp;&#160;</td>
          <td class="paramname"><em>t</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<dl class="section return"><dt>Returns</dt><dd>the concatenation of the rotation <code>*this</code> with a translation <em>t</em> </dd></dl>

</div>
</div>
<a id="a7c6e897778ebf8c4d5fd48ab2361f81f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7c6e897778ebf8c4d5fd48ab2361f81f">&#9670;&nbsp;</a></span>operator*() <span class="overload">[4/4]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename Derived , int Dim_&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classEigen_1_1RotationBase.html#a2208f5cae3e61336a9fedb4b8ad37d60">RotationMatrixType</a> <a class="el" href="classEigen_1_1RotationBase.html">Eigen::RotationBase</a>&lt; Derived, Dim_ &gt;::operator* </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classEigen_1_1UniformScaling.html">UniformScaling</a>&lt; <a class="el" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>s</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<dl class="section return"><dt>Returns</dt><dd>the concatenation of the rotation <code>*this</code> with a uniform scaling <em>s</em> </dd></dl>

</div>
</div>
<a id="ac69c68d9a256dd0d369b0f32c2b654e1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac69c68d9a256dd0d369b0f32c2b654e1">&#9670;&nbsp;</a></span>toRotationMatrix()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename Derived , int Dim_&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classEigen_1_1RotationBase.html#a2208f5cae3e61336a9fedb4b8ad37d60">RotationMatrixType</a> <a class="el" href="classEigen_1_1RotationBase.html">Eigen::RotationBase</a>&lt; Derived, Dim_ &gt;::toRotationMatrix </td>
          <td>(</td>
          <td class="paramtype">void&#160;</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<dl class="section return"><dt>Returns</dt><dd>an equivalent rotation matrix </dd></dl>

</div>
</div>
<hr/>The documentation for this class was generated from the following file:<ul>
<li><a class="el" href="RotationBase_8h_source.html">RotationBase.h</a></li>
</ul>
</div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="namespaceEigen.html">Eigen</a></li><li class="navelem"><a class="el" href="classEigen_1_1RotationBase.html">RotationBase</a></li>
    <li class="footer">Generated on Thu Apr 21 2022 13:07:56 for Eigen by
    <a href="http://www.doxygen.org/index.html">
    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
